From f57d2251128fe0f3ce0986b71e6b180df16c4eab Mon Sep 17 00:00:00 2001
From: Junichiro Sugihara <j-sugihara@jsk.imi.i.u-tokyo.ac.jp>
Date: Mon, 19 Feb 2024 12:22:52 +0900
Subject: [PATCH] [Beetle][simu] add new launch where eight modules spawn

---
 .../assembly_tasks/eight_module_test.launch   | 130 ++++++++++++++++++
 1 file changed, 130 insertions(+)
 create mode 100644 robots/beetle/launch/assembly_tasks/eight_module_test.launch

diff --git a/robots/beetle/launch/assembly_tasks/eight_module_test.launch b/robots/beetle/launch/assembly_tasks/eight_module_test.launch
new file mode 100644
index 000000000..728748466
--- /dev/null
+++ b/robots/beetle/launch/assembly_tasks/eight_module_test.launch
@@ -0,0 +1,130 @@
+<?xml version="1.0" encoding="utf-8"?>
+<launch>
+  <arg name="headless" default="false"/>
+  <arg name="spawn_x_1" default="-1.0"/>
+  <arg name="spawn_y_1" default="0.0"/>
+  <arg name="spawn_yaw_1" default="0.0"/>
+  <arg name="spawn_x_2" default="0.0"/>
+  <arg name="spawn_y_2" default="0.0"/>
+  <arg name="spawn_yaw_2" default="0.0"/>
+  <arg name="spawn_x_3" default="1.0"/>
+  <arg name="spawn_y_3" default="0.0"/>
+  <arg name="spawn_yaw_3" default="0.0"/>
+  <arg name="spawn_x_4" default="2.0"/>
+  <arg name="spawn_y_4" default="0.0"/>
+  <arg name="spawn_yaw_4" default="0.0"/>
+
+  <arg name="spawn_x_5" default="3.0"/>
+  <arg name="spawn_y_5" default="0.0"/>
+  <arg name="spawn_yaw_5" default="0.0"/>
+  <arg name="spawn_x_6" default="4.0"/>
+  <arg name="spawn_y_6" default="0.0"/>
+  <arg name="spawn_yaw_6" default="0.0"/>
+  <arg name="spawn_x_7" default="5.0"/>
+  <arg name="spawn_y_7" default="0.0"/>
+  <arg name="spawn_yaw_7" default="0.0"/>
+  <arg name="spawn_x_8" default="6.0"/>
+  <arg name="spawn_y_8" default="0.0"/>
+  <arg name="spawn_yaw_8" default="0.0"/>
+
+  <group>
+    <include file="$(find beetle)/launch/bringup.launch">
+      <arg name="robot_id" value="1"/>
+      <arg name="real_machine" value="false"/>
+      <arg name="simulation" value="true"/>
+      <arg name="headless" value="$(arg headless)"/>
+      <arg name="launch_gazebo" value="true"/>
+      <arg name="estimate_mode" value="1"/>
+      <arg name="spawn_x" default="$(arg spawn_x_1)"/>
+      <arg name="spawn_y" default="$(arg spawn_y_1)"/>
+      <arg name="spawn_yaw" default="$(arg spawn_yaw_1)"/>
+    </include>
+
+    <include file="$(find beetle)/launch/bringup.launch">
+      <arg name="robot_id" value="2"/>
+      <arg name="real_machine" value="false"/>
+      <arg name="simulation" value="true"/>
+      <arg name="headless" value="$(arg headless)"/>
+      <arg name="launch_gazebo" value="false"/>
+      <arg name="estimate_mode" value="1"/>
+      <arg name="spawn_x" default="$(arg spawn_x_2)"/>
+      <arg name="spawn_y" default="$(arg spawn_y_2)"/>
+      <arg name="spawn_yaw" default="$(arg spawn_yaw_2)"/>
+    </include>
+
+    <include file="$(find beetle)/launch/bringup.launch">
+      <arg name="robot_id" value="3"/>
+      <arg name="real_machine" value="false"/>
+      <arg name="simulation" value="true"/>
+      <arg name="headless" value="$(arg headless)"/>
+      <arg name="launch_gazebo" value="false"/>
+      <arg name="estimate_mode" value="1"/>
+      <arg name="spawn_x" default="$(arg spawn_x_3)"/>
+      <arg name="spawn_y" default="$(arg spawn_y_3)"/>
+      <arg name="spawn_yaw" default="$(arg spawn_yaw_3)"/>
+    </include>
+
+    <include file="$(find beetle)/launch/bringup.launch">
+      <arg name="robot_id" value="4"/>
+      <arg name="real_machine" value="false"/>
+      <arg name="simulation" value="true"/>
+      <arg name="headless" value="$(arg headless)"/>
+      <arg name="launch_gazebo" value="false"/>
+      <arg name="estimate_mode" value="1"/>
+      <arg name="spawn_x" default="$(arg spawn_x_4)"/>
+      <arg name="spawn_y" default="$(arg spawn_y_4)"/>
+      <arg name="spawn_yaw" default="$(arg spawn_yaw_4)"/>
+    </include>
+
+
+    <include file="$(find beetle)/launch/bringup.launch">
+      <arg name="robot_id" value="5"/>
+      <arg name="real_machine" value="false"/>
+      <arg name="simulation" value="true"/>
+      <arg name="headless" value="$(arg headless)"/>
+      <arg name="launch_gazebo" value="false"/>
+      <arg name="estimate_mode" value="1"/>
+      <arg name="spawn_x" default="$(arg spawn_x_5)"/>
+      <arg name="spawn_y" default="$(arg spawn_y_5)"/>
+      <arg name="spawn_yaw" default="$(arg spawn_yaw_5)"/>
+    </include>
+
+    <include file="$(find beetle)/launch/bringup.launch">
+      <arg name="robot_id" value="6"/>
+      <arg name="real_machine" value="false"/>
+      <arg name="simulation" value="true"/>
+      <arg name="headless" value="$(arg headless)"/>
+      <arg name="launch_gazebo" value="false"/>
+      <arg name="estimate_mode" value="1"/>
+      <arg name="spawn_x" default="$(arg spawn_x_6)"/>
+      <arg name="spawn_y" default="$(arg spawn_y_6)"/>
+      <arg name="spawn_yaw" default="$(arg spawn_yaw_6)"/>
+    </include>
+
+    <include file="$(find beetle)/launch/bringup.launch">
+      <arg name="robot_id" value="7"/>
+      <arg name="real_machine" value="false"/>
+      <arg name="simulation" value="true"/>
+      <arg name="headless" value="$(arg headless)"/>
+      <arg name="launch_gazebo" value="false"/>
+      <arg name="estimate_mode" value="1"/>
+      <arg name="spawn_x" default="$(arg spawn_x_7)"/>
+      <arg name="spawn_y" default="$(arg spawn_y_7)"/>
+      <arg name="spawn_yaw" default="$(arg spawn_yaw_7)"/>
+    </include>
+
+    <include file="$(find beetle)/launch/bringup.launch">
+      <arg name="robot_id" value="8"/>
+      <arg name="real_machine" value="false"/>
+      <arg name="simulation" value="true"/>
+      <arg name="headless" value="$(arg headless)"/>
+      <arg name="launch_gazebo" value="false"/>
+      <arg name="estimate_mode" value="1"/>
+      <arg name="spawn_x" default="$(arg spawn_x_8)"/>
+      <arg name="spawn_y" default="$(arg spawn_y_8)"/>
+      <arg name="spawn_yaw" default="$(arg spawn_yaw_8)"/>
+    </include>
+
+  </group>
+
+</launch>